Original instructions

FIBER LASER WELDING SYSTEM

REFERENCE MANUAL

FLW-AMNC-F REF-E00-201205

PREFACE

Before installing, operating, or maintaining this product, carefully read the manual(s) and thoroughly understand the contents. Strictly observe the Safety Rules and the warnings described in the manual(s). If you are not sure of how to operate this product, do not operate it by guesswork, but be sure to reread the manual(s) and operate it correctly as described in the manual(s). Always keep the manual(s) near this product so that you can reread the manual(s). When you transfer this product to another owner, be sure to hand it together with the manual(s) to the new owner.

This manual classifies the hazardous situations into the following levels:

DANGER WARNING CAUTION

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury. Indicates a potentially hazardous situation which, if not avoided, may result in damage to this product. Indicates not a warning but an item of information which should be known to work.

Reference Manual: FLW Series Fiber Laser Welding System 2012 by AMADA CO., LTD.
No part of this publication may be photocopied or otherwise reproduced without the prior written permission of AMADA CO., LTD.

May 2012
Printed in Japan

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Part 1 Displays
1. Overview..........................................................................1-4 1-1. Description of display operation................................1-4 1-1-1. Operation ...........................................................1-4 1-1-2. Entering letters and numerals ............................1-4 1-1-3. Scroll bars ..........................................................1-4 1-1-4. Cursor ................................................................1-4 1-2. Composition of displays ............................................1-5 2. Areas common to displays .............................................1-10 2-1. Processing status display area ................................1-10 2-2. Status icons .............................................................1-14 3. LIST display ....................................................................1-15 3-1. List display items......................................................1-16 3-2. OPEN button............................................................1-17 3-2-1. Searching product/program...............................1-19 3-3. SAVE button ............................................................1-20 3-4. EDIT button..............................................................1-21 3-4-1. Operation of edit area .......................................1-22 3-4-2. Macro commands..............................................1-25 3-4-3. Inserting line......................................................1-28 3-4-4. Deleting line ......................................................1-28 3-4-5. Copying line ......................................................1-28 3-4-6. Pasting line........................................................1-29 3-4-7. Commenting out line .........................................1-29 3-5. SETUP button ..........................................................1-30 3-5-1. PROD. button....................................................1-31 3-5-2. SETUP button ...................................................1-33 3-5-3. Setup list ...........................................................1-36 3-5-4. Machine setup...................................................1-37

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3-6. DELETE button ........................................................1-38 3-7. DELETE ALL button.................................................1-38 3-8. PRG. COMBINE button ...........................................1-39 3-9. PROD. COMBINE button.........................................1-41 3-10. SCHEDULE REGISTER button .............................1-42 4. Schedule display.............................................................1-43 4-1. List display items......................................................1-44 4-2. DELETE button ........................................................1-45 4-3. DELETE ALL button.................................................1-45 4-4. DOWN button, UP button.........................................1-45 4-5. SETTING button ......................................................1-46 4-6. Selecting program to transfer...................................1-46 4-7. Transferring selected program.................................1-46 5. Processing display..........................................................1-47 6. TAS display.....................................................................1-50 6-1. Executing TAS .........................................................1-54 6-2. Manual offset............................................................1-57 6-3. Auto offset (at confirmation at a time) ......................1-60 6-4. Full auto offset .........................................................1-64 7. RESULT display .............................................................1-65 7-1. List display items......................................................1-66 7-2. Updating results .......................................................1-67 7-3. Searching results .....................................................1-67 7-4. DELETE button ........................................................1-69 7-5. DELETE ALL button.................................................1-69 7-6. EXPORT button .......................................................1-70 8. UTILITY display ..............................................................1-71 8-1. Reference position ...................................................1-73 8-2. Check shield gas......................................................1-74 8-3. Adjust nozzle unit centering .....................................1-75 8-4. Truck location exchange ..........................................1-76 8-5. Table setup ..............................................................1-77 8-6. Filler Feed ................................................................1-78 8-7. TAS calibration display ............................................1-79 8-7-1. Executing TAS calibration .................................1-81 8-7-2. Confirming calibration result..............................1-88 8-7-3. Other messages ................................................1-91 9. Processing condition display ..........................................1-92 9-1. Common areas of Processing condition display......1-93 9-1-1. Processing condition display common items 1 .1-94 9-1-2. Processing condition display common items 2 .1-95 9-1-3. Setting operations of Processing condition display common items ......................................1-96 9-2. Processing condition display....................................1-98 9-3. Power control condition display ..............................1-100

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9-4. Condition list display ...............................................1-102 9-4-1. Calling processing conditions...........................1-103 9-4-2. Finding processing conditions..........................1-103 9-4-3. Copying processing conditions ........................1-104 9-4-4. Changing processing condition name (renaming) .......................................................1-104 9-4-5. Deleting processing conditions ........................1-105 9-4-6. Exporting processing conditions ......................1-105 9-4-7. Importing processing conditions ......................1-106 9-4-8. Exporting all processing conditions at a time...1-106 9-4-9. Importing all processing conditions at a time ...1-107 9-5. Parameter setting display .......................................1-108 10. Maintenance display ....................................................1-109 10-1. I/O .........................................................................1-110 10-2. Support .................................................................1-111 10-3. Version..................................................................1-112 10-4. User parameter .....................................................1-113 10-5. Inspect ..................................................................1-114 10-5-1. Inspect display ...............................................1-115 10-5-2. Setting display................................................1-119 10-5-3. Option display ................................................1-121

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1. Overviews 1-1. Description of display operation 1-1-1. Operation

The machine has various buttons arranged on each display. The buttons function when the corresponding portions on the display are pressed or touched. Some of the buttons illuminate to indicate that they are pressed.

1-1-2. Entering letters and numerals

Use the accessory keyboard to enter or edit the letters and numerals on each display.

1-1-3. Scroll bars

One or two scroll bars appear when all data cannot be shown on one display as is the case with a file list. The display can also be scrolled by pressing the scroll bar up and down buttons or moving up and down the scroll bar lever.

1-1-4. Cursor
When you touch the display position to which you want to move the cursor, the cursor moves to that position. If the display has cursor buttons, press the cursor buttons to move the cursor to your desired position on the display. The cursor moves also when the display is scrolled with the scroll bar or bars.

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1-2. Composition of displays

There are eight displays: LIST, SCHEDULE, PROCESS, TAS, RESULT, UTILITY, COND. (processing conditions), and MAINT. (maintenance). Press the corresponding button to change to each display.

LIST button Press this button to list programs loaded to AMNC. A program can be selected from the list to add to the schedule.

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SCHEDULE button Press this button to display the PRE-EDIT display where you will select a program to use for the next processing. You can also perform switching between program operation and schedule operation of the program to weld, confirming setup, and setting up display switching after the transfer.

PROCESS button Press this button to open the Processing display to show programs. confirm the setup before performing the operation. You can also

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TAS button Press this button to open the display to offset by TAS.

RESULT button Press this button to display the record of processes that have been performed. You can also export the result contents being displayed to a file.

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UTILITY button Press this button to open the UTILITY display to zero-return the machine's axes and make various adjustments.

COND. button Press this button to open the display to select and set the laser processing conditions.

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MAINT. button Press this button to open the MAINTENANCE display to perform maintenance tasks.

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2. Areas common to displays 2-1. Processing status display area

Here are described the buttons and items on the common area of the Schedule and Processing displays.

3) Operating status display field

4) Names of loaded programs

5) Robot status display field

1) Message

2) Switch operator

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1) MESSAGE button
Press this button to open the MESSAGE display. the MESSAGE display automatically opens. (1) Alarm display Shows currently occurring alarms or warnings. When an alarm or warning occurs,

(2) History display Shows alarms or warnings that have occurred to date.

After selecting an alarm history, you can delete it by pressing the DELETE button. To delete all alarm histories, press the DELETE ALL button. The number of histories displayed on the HISTORY display can be set through the text box in the display (1 to 9999). Both in (1) and (2), the details of the targeted alarm can be displayed by pressing the DETAILS button. Press the DETAILS button again to close the details.

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2) OPERATOR CHANGE button

Press the OPERATOR CHANGE button (shape of a person) to open the display below. You can change formats of the language, time, and date depending on the operator.

Item OK button BACK button

Description : Changes formats of the language, time, and date based on the settings. : Closes the display without changing the settings.

: Selects the language to set. Indication Language Name Form of Date Form of Week Form of Time : Selects display format of date. : Selects display format of day. : Selects display format of time.

3) Program status indication

Shows the operating status of the machine. changes depending on the status. Standby (dark blue) The color of the whole area also

Automatic operation (light blue)

Pause (yellow)

Alarm (red)

TAS mode (green)

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Also the icon is different between the program operation and the schedule operation. The icon shown on the right is displayed during the program operation. The icon shown on the right is displayed during the schedule operation.

4) Running program display field

Shows the name of the program being run or on standby. Shows the name of the program being selected by the robot.

5) Robot status display field

Shows the current status of the robot. The yellow TP light indicates that the teaching by the teaching hand box is in effect. The green STEP light indicates that the STEP mode is in effect.

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2-2. Status icons

The current status is indicated by an icon at the lower right of the screen. meanings of the icons are as described in the table below. The

Icon is displayed here

No. 1 2

Icon

Meaning Start without daemon tasks Robot disconnected Shared folder disconnected

Description Indicates that AMNC is started up while any daemon tasks are not started up. Indicated that the robot is not connected and therefore no communication with the robot is possible. Indicates that the shared folder being set is not found.

3 4

Inspection date Indicates that there is an inspection item that is (overdue) on or over the inspection date.

When an icon of No. 1 or 2 is displayed, turn off the power and then turn on again.

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3. LIST display

Press the LIST button to show the list of products and programs being loaded by the AMNC.

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3-1. List display items

The display items are as described below. Item Selector: Transfer job No. Product Name Description : The data being selected is shown in green. Press the item field when it is turquoise to cancel all the selection. : Shows the No. of the workpiece/program. : Shows the name of the product to process. This field is blank after calling a program built by the teaching. An icon is shown for the products other than robots. Product data icon: Program name : Shows the program name. The displayed icon is different between a management program and a processing program. Management program: Processing program: TAS : Shows if the offset by TAS is performed or not. None: Starts processing without executing TAS. Manual: Executes manual TAS before the processing. Auto: Executes automatic TAS before the processing. Individual: Executes TAS according to the settings of the processing program that is opened from the management program. Icon

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3-2. OPEN button

Opens the product/program in the data edit area.

Display items of the opened display are shown below. Item Media tab Media tab Robot Media tab Local Media tab Shared folder Product Image tab MEDIA SETTING button SEARCH button View Selected COPY button MOVE button DELETE button OPEN button BACK button Key entry field : When selected, shows the product image of the product to open. : Sets where to refer from the shared folder. : Sets search conditions for displaying data. : Shows the total number of data shown on the list. : Shows the number of data selected from the list. : Copies the selected product/program and then saves it. : Changes where to save the selected data. : Deletes the selected data. : Opens the selected product/program and add it. : Closes the display without opening the product program. : Type the name of a program, and press the Enter key on the keyboard to search for the program data. : Shows the data from the local folder of AMNC. local folder, you will select another folder. From the Description : When selected, shows the display to select where the product/program should be loaded. : Shows the data saved in the robot.

: Lists the data saved in the specified shared folder.

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Open a product/program as described below. 1. 2. Press the OPEN button to open the Open display. Select a source media, select the product/program to open, and press the OPEN button. * See "3-2-1. Searching product/program" for how to search.
Select a media.

The message shown right will be displayed if the same name as the selected product/program exists. Select YES to overwrite, or NO to only add to the list. When overwriting, the display above will be shown. Select a program to overwrite, and press OK to overwrite the program.

3.

The selected products/programs are registered on the display.

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3-2-1. Searching product/program

1. 2. Press the SEARCH button on the Open display. Enter the conditions to the Program Name/Product Name field using the keyboard. Example: When the string "TEST*" is entered, products/programs which name starts with "TEST" are found. You can also specify Date. Press the CLEAR button to reset search conditions. 3. Press the OK button to show the products/programs that match the specified conditions.

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3-3. SAVE button

Saves the products/programs.

Display items of the Save display are shown below. Item Media tab Media tab Local Media tab Shared folder Product Image tab : When selected, shows the product image of the product to save. MEDIA SETTING button View RENAME button DELETE button SAVE button BACK button Key entry field : Sets where to refer from the shared folder. : Shows the total number of data shown on the list. : Changes the name of a product/program when saving it. : Deletes the selected data. : Saves the selected product/program to the specified place. : Closes the display without saving the product program. : After key entry, press the Enter key of the keyboard to set the name of a product/program or new folder. : Saves the program in the specified shared folder. Description : When selected, shows the display to select where the product/program should be saved. : Saves to the local folder of AMNC.

Save as described below. 1. Select the product/program you want to save, and press the SAVE button (Multiple products/programs can be selected and saved). 2. Select the destination from the media. 3. Press the SAVE button. 4. The display closes automatically when the products/programs are saved successfully.

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3-4. EDIT button

Press EDIT button to show the display where the contents of a program can be edited.

Item Edit area INSERT button DELETE button COPY button

Description : Shows the contents of a program to edit. : Inserts a blank line above the selected line. : Deletes a selected line. : Opens the display to specify the start and end lines and copies lines. The copied contents will be discarded when the Edit display is closed.

PASTE button COMMENT OUT button OK button BACK button

: Sets where to refer from the shared folder. : The selected line will be commented out. When the selected line is already commented out, releases the comment out. : Reflects the edited program to the data in the listed schedule, and closes the Edit display. : Discards the edited contents and closes the Edit display.

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3-4-1. Operation of edit area

Press a command in the program or press an arrow key on the keyboard to make a selection by command basis.

Press on the selected command again, or press the Enter key of the keyboard to show the command list that can be changed.

Press a command in the list, or press the Enter key on the keyboard to change the command and show the command list on the list to enter next. Select the selected command or press the Esc key on the keyboard to dismiss the list without changing the command.

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To make a selection by line, perform the following operations. Press a command that cannot be selected by command (e.g. EACHLINE, STRAIGHTLINE) or the line number. Move to the line to select using the Up or Down arrow key. While the leftmost command of the line is selected, press the Left arrow key. To make a selection by line basis, click a command that cannot be selected by command (e.g. EACHLINE, STRAIGHTLINE) or the line number, press the Up or Down arrow key, or press the Left arrow key while the leftmost command is being selected to make a selection by command basis.

To show the command type list, perform the following operations. Double click a command that cannot be selected by command (e.g. EACHLINE, STRAIGHTLINE) or the line number. Click the selected line again, or press the Enter key of the keyboard.

Press a command in the list, or select using the Enter key on the keyboard to change the command and show the command list to enter next. * Click the selected command or the line number or press the Esc key on the keyboard to dismiss the list without changing the command.

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The Edit box is displayed when you select a command requiring the entry of a number.

After you enter a number and then press the Enter key, the value is reflected to the program. The Edit box is displayed when you select a command requiring the entry of a string.

After you enter a string and then press the Enter key, the value is reflected to the program. Select a command that needs to be selected from the TP program to open the TP program list display.

After you select a program from the list and close the LIST display, the selected command is overwritten by the command that has been selected from the list. Press the BACK button to close the program list display to return to the command list.

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3-4-2. Macro commands

Select a macro command to open the display to select a macro to use.

From the macro command list, select the M102 and press OK to open the processing conditions list.

After you select processing conditions from the list and close the LIST display, the selected command is overwritten by the M102 of the processing conditions that has been selected from the list. Press the BACK button to close the processing condition list display and return to the macro command list.

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Press the SEARCH button to open the display to search by processing conditions.

The initial values when the search display is opened follow the settings of the search display of the Processing condition display (for the Processing condition display, see "9-4-2. Finding processing conditions").

Press the OK button to close the Search display and narrow the processing conditions list. The conditions are held until you close the processing conditions list, and discarded when you close the list. Press the BACK button to close the Search display without performing the narrowing.

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 Click MCR_JOB in the macro command list to open the list of management programs being edited and the programs of the same product. For the management program that is created by a program called from a robot, the list of programs called from the robot is shown.

After you select a program from the list and close the LIST display, the selected command is overwritten by the MCR_JOB of the processing conditions that has been selected from the list. Press the BACK button to close the program list display to return to the macro command list. * MCR_JOB is shown on the macro command list only for the management program.

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3-4-3. Inserting line

Press the INSERT button to insert a line above the selected line.

3-4-4. Deleting line

Press the DELETE button to delete the selected line.

3-4-5. Copying line

Press the COPY button to open the display to specify lines to copy.

In the Specify copy line, enter the start and end lines to copy. program edit area to reflect the line number to the edit box.

Also, click the

Press the OK button to execute copy and close the Specify copy line display. Press the BACK button to close the Specify copy line display without executing copy.

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3-4-6. Pasting line

Press the PASTE button to paste the copied contents on the selected line.

3-4-7. Commenting out line

Press the COMMENT OUT button to comment out the selected line. releases the comment out, when the selected line is already commented out.

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3-5. SETUP button

Edits the contents of a program.

Common items on the Processing Arrange display are as described below. Item PROD. button SETUP button LIST button MACHINE button Description : Displays the information relating to the product to weld. : Shows the information of the current program. : Shows the setup image list. : Shows the nozzle installation information.

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3-5-1. PROD. button

Items shown by the PROD. button are described below. Item Product image Product information list CHANGE button PRODUCT button PARTS button IMAGE button Description : Shows the image of the product to weld. : Displays the information relating to the product using characters. The displayed contents are different between the product information and the parts information. : Replace the product information with the loaded image file. : Lists the information relating to the processing of the product. : Lists the information relating to the component parts. : Hides the list and enlarges the display of the product image.

* The information shown in the product information list is not included in the program that has been created in the teaching.

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PRODUCT button lists the following items. Item Comment Parts Product Size X Size Y Size Z Process Time Length Power Shield Gas Air CO2 Creation date Update date Note Description : Shows the comments relating to the product. : Shows the number of parts comprising the workpiece. : Shows the product name. : Shows the X size of the product. : Shows the Y size of the product. : Shows the Z size of the product. : Shows the processing time of the product estimated by the CAM. : Shows the length of the weld line when processing the workpieces. : Shows the estimated power consumption used for the process of workpieces. : Shows the estimated consumption of the shield gas used for the process of workpieces. : Shows the estimated amount of the air consumption due to the processing of workpieces. : Shows the estimated amount of the generated CO2 due to the processing of workpieces. : Shows the date when the workpiece data was created. : Shows the date when the product and setup information was updated. : Note about the product can be entered.

PARTS button lists the following items. Item Parts name Material type Thickness Description : Shows the parts names. : Shows the material type of the part. : Shows the thickness of the part.

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3-5-2. SETUP button

Items shown by the SETUP button are described below. Item Setup image Program list Setup information list PREV./NEXT button EDIT button SETUP button PARTS button JIG IMAGE button Description : Shows the image for each step. : For a management program, you will select a program to display information and switch to it. : Shows information about the setup. The displayed contents depend on whether it is setup information, parts information, or jig information. : Switches the display of the registered setup image. : Enables manually editing the currently displayed setup image. : Lists the setup information. : Lists names of parts used for setup. : Lists names of jigs used for setup. : Hides the list and enlarges the display of the product image.

* The information shown in the setup information list is not included in the program that has been created in the teaching.

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The image edit mode through the EDIT button shows the following display.

Items shown in the setup image edit display are described below.

Item Pen color selection button UNDO button REDO button SAVE button EXIT button

Description : Select the color of a line drawn manually through the touch screen. : Press this button to undo an editing (up to 3 editing operations) : Press this button to redo an editing that was undone. : Overwrites the setup image with the currently edited contents. : Exits editing of the setup image and returns to the standard Processing Arrange display. The setup information list that was displayed before starting the edit mode will be displayed again.

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PRODUCT button lists the following items.

Item Setup name Setup No. Surface reference Product reference Placing information X Placing information Y Placing information Z Process Time Length Power Shield gas consumption Air Note

Description : Shows the name of the setup. : Shows the total number of setups and the number of current setup. : Shows the placing reference position of the surface. : Shows the placing reference position of the product. : Shows the placing position of the product in the X-axis direction. : Shows the placing position of the product in the Y-axis direction. : Shows the placing position of the product in the Z-axis direction. : Shows the estimated time for setup. : Shows the length for setup. : Shows the estimated power consumption used for the process of setup. : Shows the estimated consumption of the shield gas used for the process of setup. : Shows the estimated consumption of the air used for the process of setup. : Note about the setup can be entered.

Press the PARTS button to list the names of parts used to setup. Press the JIG button to list the names of jigs used to setup.

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3-5-3. Setup list

Items shown in the LIST display are described below. Item Setup image list ADD button DELETE button View Description : Shows the setup image list. select the setup image. Press an image in the list to

: Adds a processing setup image from a file. : Deletes the selected processing setup image. : Shows the selected processing setup image in the SETUP display.

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3-5-4. Machine setup

Items shown in the LIST display are described below. Item Program list CHANGE button Description : For a management program, you will select a program to display information and switch to it. : Changes the information of the nozzle to install.

The information of the nozzle to install can be changed through the CHANGE button.

Item Nozzle name OK button BACK button

Description : Select either nozzle to install, or not to install. : Applies the change of the nozzle information. : Exits without applying the change of the nozzle information.

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3-6. DELETE button

Press the DELETE button to show the confirmation display to delete the selected program. * When processing programs in any product are selected, the deletion is performed by product basis. Management programs can be deleted by program basis.

Press the DELETE button to delete products or programs from a list. Press the BACK button to cancel the deletion and return to the LIST display. N O T E Programs registered on the Schedule display cannot be deleted.

3-7. DELETE ALL button

Press the DELETE ALL button to delete all registered programs. Please note that all the contents registered on the schedule are also deleted. N O T E All information registered on the schedule is deleted. You cannot perform delete while in the operation. You cannot perform delete in the TAS mode.

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3-8. PRG. COMBINE button

Press the PRG. COMBINE button to show the Program Combine display.

Combines the selected programs and creates a management program.

Item Program name

Description : Enter a name of the management program to create. (Up to 36 characters, alphabet and "_" only.) You cannot create a combined program without entering this.

LIST button OK button BACK button

: Switches to the list of programs to combine. : Combines the selected programs and creates a management program. : Cancels the program combine and returns to the LIST display.

N O T E If the selected program has any combined program, or more than two product programs are selected, program combine cannot be performed.

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Press the LIST button to switch to the list of programs to combine.

Press the LIST button again to return to the Program Name display.

Item DELETE button

Description : Deletes the selected program from the list. Program that has been deleted is not included in the programs to combine.

UP/DOWN buttons COPY button LIST button OK button BACK button

: Rearrange the order of the selected program from the list. : Adds a copy of the selected program to the end of the list. : Switches to the display to set the name of the management program. : Combines the selected programs and creates a management program. : Cancels the program combine and returns to the LIST display.

The created management program is added to the end in the created products.

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3-9. PROD. COMBINE button

Press the PROD. COMBINE button to shows the display to combine selected programs and create product data.

Item Product Name

Description : Enter a name of the workpiece data to create. (Up to 34 characters, alphabet and "_" only.) You cannot create a workpiece data without entering this.

LIST button OK button BACK button

: Switches to the list of programs to combine. : Combines the selected programs and creates a workpiece data. : Cancels the product combine and returns to the LIST display.

N O T E Product combine cannot be performed if there is another product of the same name as the specified, or a same program name is given to a same product.

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Press the LIST button to switch to the list of programs to combine.

Item DELETE button

Description : Deletes the selected program from the list. Program that has been deleted is not included in the programs to combine.

UP/DOWN buttons LIST button OK button BACK button

: Rearrange the order of the selected program from the list. : Switches to the display to set the name of the management program. : Combines the selected programs and creates a workpiece data. : Cancels the product combine and returns to the LIST display.

The combined product is added to the end of the LIST display.

3-10. SCHEDULE REGISTER button

Press the SCHEDULE REGISTER button to register the selected programs to the end of the Schedule display with the top one first, and shows the Schedule display. See "4. Schedule display" for the Schedule display.

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4. Schedule display
Press the SCHEDULE button to open the Schedule display to create or edit the next program while the machine is operating. You can also check the setup of the next program to weld and check the workpiece while the machine is operating.

Select the SCHEDULE button to perform the processing as a part of flow from the program in the Schedule display.

When performing a schedule operation, all programs in the Schedule display that satisfies the following conditions will execute. Programs after the one transferred first Program that the actual number of parts is less than the scheduled number of parts Program that has not been skipped Select the Program Name item to choose whether to perform the processing by the schedule operation or to skip.

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Select the PROGRAM button to perform the processing by single program.

The program operation welds only the programs that have been transferred. Once ends, the program can be operated continuously.

4-1. List display items

The display items are as described below. Item Selector Transfer job No. Product Name Description : The data being selected is shown in green. Press the item field when it is turquoise to cancel all the selection. : Shows the No. of the workpiece/program. : Shows the name of the product to process. This field is blank after calling a program built by the teaching. : Shows the program name. : Shows if the offset by TAS is performed or not. : Shows the number of workpieces to be welded. For programs, this is a number to execute. : Shows the number of times that the program ended successfully. For a schedule operation, a program which Act. is more than Plan is skipped. Def. Start Time Finish Time Cycle Time : Shows the number of times that the program ended in the middle of the execution. : Shows the time when the program started. : Shows the time when the program ended. : Shows the time duration from the start of processing to the end or pause. Icon

Program Name TAS Plan

Act.

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* See "3-3 SAVE button" for the SAVE display.

* See "3-4 EDIT button" for the EDIT display.

* See "3-5. SETUP button" for the Processing Arrange display.

4-2. DELETE button

Deletes the selected products/programs. Select the product/program you want to delete, and press the DELETE button

4-3. DELETE ALL button

Deletes all products/programs registered on the display.

4-4. DOWN button, UP button

Changes the order of the selected programs in the list. For the schedule operation, the order of processing can be changed by changing this order. During the program operation, rearrangement that affects the order of programs that have been transferred is not allowed.

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4-5. SETTING button

Sets the display to show after transferring the program.

Select the NOT CHANGE button if you do not switch from the Schedule display after transferring programs. To switch to the TAS display or Processing display, select the TAS button or PROCESS button respectively. Press the OK button to change the settings, or the BACK button to return without making any change.

4-6. Selecting program to transfer

To specify programs to transfer to the Processing display, press that program row on the display.

Select programs to transfer to the Processing display. After selecting programs to transfer to the Processing display, press the TRANS JOB button.

4-7. Transferring selected program

Press the TRANSFER button to transfer the program that was set as the transfer job to the Processing display and the TAS display.

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5. Processing display

Press the PROCESS button to open the Processing display to show a program. You can also confirm the setup before performing the operation. The contents of a program currently loaded are shown in the top left.

When the loaded program is a management program, check the Show only management program to show only the management program even during the operation.

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On the PROGRAM display, the control panel buttons are shown on the right. Info. panel Panel A

Panel B Press one of the Info. panel, Panel A, or Panel B to switch to a panel where the buttons required for operation are arranged as described below. The type of buttons depends on the machine specification or options.

GUIDE LASER button If pressed, the laser head emits guide light. TAS CANCEL button Sets not to perform the offset by TAS for the programs used for the processing. OSCILLATOR COMMUNICATION CANCEL button Disconnects the communication with the oscillator. Select again to connect again.

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Press SETUP button to show the setup information of the program currently loaded. * See "3-5. SETUP button" for the Processing Arrange display. Selecting desired coordinate system Display format of coordinates can be switched using the JOINT button, USER button, and WORLD button. Displaying in joint coordinate system Press the JOINT button to show the current value using the numbers of joint coordinate system.

Displaying in user coordinate system Press the USER button to show the current value using the numbers of user coordinate system.

Displaying in world coordinate system Press the WORLD button to show the current value using the numbers of world coordinate system.

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6. TAS display

When welding using a program created by a CAM or the teaching hand box, mismatch might happen between the welding point position that was specified by the program and the actual welding point position due to the insufficient processing and/or assembling accuracy of the workpiece, or error in the installation position. Because of this, the correction of the program using TAS is required. N O T E Before performing the offset operation using TAS, perform calibration (see 8-7) to calculate the ratio of the specified movement to the actual movement of the robot, and align axes between the display coordinate system and the robot coordinate system. If you start the TAS operation without performing the calibration, the message in the right figure appears. Perform the TAS Calibration from the UTILITY menu before performing the TAS operation. TAS display layout

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TAS display button functions

(1) Teaching point (2) Teaching point movement button : Specifies the welding position (X) and the welding direction (o) : Fine adjustment of the teaching point (can be operated from the keyboard) : Shows the image of the previous processing as a reference for the offset : Toggles ON/OFF the reference image registration : Recovery button for the camera connection error : Switches to the teaching point specify mode : Switches to the welding direction specify mode : Moves the tool by specifying movements (tool coordinate system) : Sets movements when moving the tools : Adjusts illuminance of the LED light (can be operated from the keyboard (*2)) : Moves to the previous welding point (neglected at the start point) : Shows the TAS progress status : Moves to the next welding point (neglected at the end point) : Toggles show/hide the (2) Teaching point movement button : Opening Parameter setting display : Aborts the offset (discards the offset contents and exits) : Shows messages during the auto offset

(3) Crossline for specification display : Indication of current laser spot (*1) (4) Reference Picture (5) Pic Register box (6) Camera Recovery button (7) POINT TEACH button (8) DIRECTION TEACH button (9) Camera Move buttons (10) Move(V) (11) Illuminance Control (12) BACK button (13) Progress bar (14) NEXT button (15) SHOW button (16) PARAMETER button (17) ABORT button (18) Message area

(*1): Adjusting the laser (see 8-3) might displace the crossline intersection and the laser spot position. After adjusting the laser, be sure to perform the calibration (see 8-7) and alignment of the crossline intersection and the laser spot. (*2): Illuminance adjustment from the keyboard is possible only while the illuminance control is selected. Not while in the adjustment by the illuminance control, the operation from the keyboard works as the fine adjustment of the processing target point.

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Auto offset (at confirmation at a time)

(19) CANCEL button (20) APPLY button Parameter display layout

: Cancels the manual offset in the offset at a time : Applies the manual offset in the confirmation at a time

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(1) Set Offset parameter Forced Manual Offset Mode Auto Offset Mode If offset score is low, pause robot : Switches to the manual offset mode (*3) : Select the offset mode (*3) : Specifies whether to make a confirmation or not when the move length is large during the auto offset : The reference move length when the above setting is ON

Move Length Limit

Use automatically offset once before manual offset: Specifies whether to perform the auto offset once during the manual offset (2) Process Point Marker settings Move(V) Width Color (3) Cross Line settings View Type Color (4) Feed Speed Feed Speed [Weld Line] Feed Speed [Non-Weld Line] (5) REGIST button (6) CANCEL button : Specifies the feed speed of the welding area : Specifies the feed speed of the non-welding area : Saves the change and closes the setting display : Discards the change and closes the setting display : Toggles show/hide the crossline : Select a line type (solid/dotted (rough)/dotted (fine)) : Select a color : The move length during the fine adjustment of target point (in pixel) : The line width of the x mark to show : Select a color

(*3): Although the offset mode on the Schedule display is basically used, the manual processing is used regardless of the setting on the Schedule display when the Forced Manual Offset Mode is ON.

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6-1. Executing TAS

1. Select a program to execute the process from the SCHEDULE menu on the AMNC display, and then execute TRANSFER. To do this, select the contents of TAS to execute from the drop-down menu on the TAS column of the Schedule display (when NONE is selected, TAS cannot be started).

N O T E Performing the auto offset for the program requires recording the image of each welding point and the corresponding coordinate (pixel coordinate). Therefore, the auto offset cannot be performed for the first offset of a product. Then you must select the manual offset for the first offset of a product to manually correct the program and register the image and coordinate of welding points. Using TAS, offset can be performed only on the start, middle, and end of the weld line among the points recorded on the program. The robot does not stop at other points including the tool avoiding points or passing points and therefore offset cannot be performed at these points.

* A program with green characters is to be transferred (and a program with the yellow background is currently being transferred). * The leftmost column is used by the processes that accept multiple selections (e.g. DELETE). In the transfer process, a program of the single selection is transferred regardless of the color in the leftmost column. * Press the SETTING button to select the display to transit to when the program transfer finishes (select from SCHEDULE/PROCESS/TAS).

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When transfer is not ready, the message in the right figure appears. Press RETRY button to perform the transfer again, or press CANCEL button to abort the process.

2.

After the transfer finishes, press the START button on the control panel to start TAS.

* When TAS is started, a program is loaded and the robot automatically moves to the first weld start point (not the first input point of the program). Start TAS after carefully confirming the safety about the collision, touch, or interference.

N O T E If any error occurs about the camera connection during the TAS operation, the movie stops playing. Check if there is no irregularity regarding to the camera connection, and press the Camera Recovery button. If the camera is not connected when TAS is started, the following message appears in the message area. Check if there is no irregularity regarding to the camera connection, and press the Camera Recovery button (if the camera is reconnected, the system automatically checks the state of the camera. Wait for about 10 seconds before pressing the Camera Recovery button).

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If you change a weld file that has been performed TAS on, the message shown right appears since the previous offset cannot be used. If you select YES, the message shown at the bottom on the right figure appears and the previous offset is discarded. If TAS cannot be performed due to the reason like the irregularity in the weld file, the message in the right figure appears. Check for the irregularity in the weld file.

If TAS cannot be started, the message in the right figure appears. Check the status of the operation switch and safety equipment of the robot, and then specify to start TAS again.

To terminate TAS in the middle of the process, press the ABORT button. The message in the right figure appears. Check the status of the operation switch and safety equipment of the robot, and then specify to start TAS again.

3.

Then perform operations following the TAS offset settings. Manual offset Auto offset + at the confirmation at a time Full auto offset : Refer to 6-2 : Refer to 6-3 : Refer to 6-4

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6-2. Manual offset

1. When the robot reaches the welding point, the auto offset is performed once (except when the data have not been registered and therefore the auto offset cannot be done, or when the auto offset execution is set to OFF). Check the welding position and the welding target point position, manually specify the welding target if necessary, and then press the NEXT button. The robot moves to make the specified point match with the crossline intersection, the program offset is performed, and the robot moves to the next welding target point. * If the data for the auto offset have not been registered, they are registered automatically after the program offset is performed. To re-register the data for the point where any data have been stored, check the Pic Register check box of the TAS display (data re-registration is executed for each welding point while this check box in ON).

If auto offset could not be performed, one of the following messages appears in the message area on the bottom of the display. When the master picture has not been saved

When the picture could not be saved

When the auto offset could not be performed

When other unexpected error occurred

2.

A welding direction can be registered as the data used in the auto offset. Press DIRECTION TEACH button to show the teaching point for the welding direction, and move the teaching point to locate on the weld line. * The welding direction is not required information for the auto offset. When the welding direction teaching was not performed, the offset is performed as the welding direction (point welding). The welding direction teaching point should be on the weld line and the position of 100 pixels from the processing target point (if these two points are too close, the angle error due to the pixel displacement becomes large while if it is too apart, resulting direction information may not be effective).

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N O T E While the robot is operating, the processing status display area is shown in blue and the operator operation cannot be performed. Perform the TAS operation after confirming that the robot operation has finished and the processing status display area turned into green (a mark located at the left edge changes at the same time the color changes).

When the welding point becomes out of the display and the manual offset cannot be performed, the Camera Move buttons can be used to move the camera up to the certain amount (pay attention to avoid the nozzle and the workpiece touch each other upon moving). The movement amount can be set through the keyboard. If the entry is made using a format that the system cannot handle, the message shown right appears.

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The camera movement amount is limited up to 20 mm as the countermeasure to any erroneous entry. When the entered value exceeds this, the message shown in the right figure appears (when large amount movement is required, divide it into the multiple movements). At the first move along the Z-axis in an offset process, the message shown in the right figure appears. Operate after confirming the safety.

3.

Then press the NEXT button to proceed to the next welding point and perform the offset for each point.

4.

When the offset completes for all welding points, the system transfers the program which has been applied the offset, and performs the weld.

If the data transfer is not ready, the message shown in the right figure appears. Then perform the transfer again. Press CANCEL button to return to the state that is before the COMPLETE button is pressed.

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6-3. Auto offset (at confirmation at a time)

1. In the confirmation at a time, moving the robot and auto offsetting the welding positions are repeated to correct the program. After the offset completes for all welding points, the result is confirmed and the correction is made for all at a time. * If something happened to prevent continuing the auto offset, the robot is stopped at that point and a message appears (see 6-2-1). After confirming the message, manually offset and press the NEXT button (auto offset is performed again starting at the next point). 2. When TAS is started, the auto offset is executed, and the Auto Offset Result display appears when the offset completes for all welding points.

N O T E Click the result image to select, and press the EXPAND button to open the enlarged display (to close the enlarged display, click the image).

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3.

If any point is found to require a correction, select the image of that point and press the MOVE button. The Auto Offset Result display closes and the robot is moved to the selected welding point.

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4.

When the robot reached the selected point, perform the manual offset and press the APPLY button. The offset result is applied to the program and the result image is updated, and the Auto Offset Result display is opened again (press the CANCEL button to discard the offset result and open the Auto Offset Result display when you decide that no offset is needed).

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5.

After this, confirmation using the result image, moving the robot, and manual offsetting are repeated. When the confirmation of offset result and the correction of it are completed for all welding points, press the CLOSE button to close the Auto Offset Result display. The system transfers the program which has been applied the offset, and performs the weld.

Press the CLOSE button. The message to confirm if the weld should be started appears. Select the action to perform.

If the data transfer is not ready, the message shown in the right figure appears. Press RETRY button to perform the transfer again, or press CANCEL button to return to TAS.

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6-4. Full auto offset

1. In the full auto offset, moving the robot and offsetting the welding position are repeated to correct the program. * If something happened to prevent continuing the auto offset, the robot is stopped at that point and a message appears (see 6-2-1). Also, when the movement calculated by the auto offset is too large, the robot is stopped and the message appears. When the movement calculated by the auto offset is too large, the message shown in the right figure appears. Perform the manual offset according to the offset status, and press the NEXT button (Auto offset is performed again starting at the next point).

2.

Press the START button on the control panel to start TAS, the auto offset is started. When the offset completes for all welding points, the system transfers the program which has been applied the offset, and performs the weld. When any irregularity occurred in the behavior or connection of the robot, the message in the right figure appears. Check if there is any irregularity in the settings or connection of the robot.

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7. RESULT display

Press RESULT button to show the RESULT display. Press this button to display the operation status of programs.

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7-1. List display items

The display items are as described below. Item Selector Description : The result being selected is shown in green. Press the item field when it is turquoise to cancel all the selection. : Shows the result number. : Shows the product name. This field is blank for the result of a program built by the teaching. : Shows the program name. : Shows the start time of the current program. : Shows the end time of the current program. : Shows the time duration from the start of processing to the end or pause. : Shows one of Normally completed, Abnormally terminated, Operating depending on the operation status. : Shows the number of times that the operated program ended successfully. Icon

No. Product Name

Program name Start Time Finish Time Actual Process Time Status

Number of weld

On the top right of the RESULT display, the result number information is shown. The left-hand side is the number of results currently appearing on the list, and the right-hand side is the number of results that is the target of search. When no search conditions are specified, these two numbers are same.

* See "7-3 Searching results" for the search conditions.

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7-2. Updating results

When opening the RESULT display from the other displays, the updated result information is shown. If update is needed while the RESULT display is being shown, the UPDATE button is illuminated. Press the UPDATE button to see the current result information.

7-3. Searching results

When opening the RESULT display from the other displays, the updated result information is shown. If update is needed while the RESULT display is being shown, the UPDATE button is illuminated. Press the UPDATE button to see the current result information.

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Display items of the SEARCH display are shown below. Item OK button BACK button Product Name Program name Start Time Finish Time Description : Applies the changed search conditions and closes the display. : Closes the display without changing the search conditions. : Specifies the product name. : Specifies the program name. : Specifies the date when the program operation started or ended. To specify the search conditions by date, check the checkbox of the corresponding item. When the checkbox is not checked, the date and time setting by date is disabled. : Specifies the program operation status to search. : Specifies the number of results to be search counting from the newest. : Cancel all search conditions and sets to show the newest 100 results.

Status Search Scope CLEAR button

N O T E The search results are applied even after a restart. Pay attention to the fact that the newly recorded results that do not match the search conditions are not shown.

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7-4. DELETE button

Select the result being shown in the list and press DELETE button to delete the selected result data.

Press DELETE button to list the selected programs.

Press the DELETE button in this display to delete all results of the programs being shown in the list. Press BACK button to stop the deletion.

7-5. DELETE ALL button

Deletes all recorded data. From the next execution of a program, the result will be shown from the scratch.

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7-6. EXPORT button

Press the EXPORT button to export the contents currently shown in the result list to a csv or xml file. Press EXPORT button to show the following display. When saving, the file format can be selected between csv and xml.

N O T E The results being exported are those currently shown in the list only. To export all results in the specified range, clear the search conditions.

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8. UTILITY display

Press the UTILITY button to open the UTILITY display to zero-return the machine's axes and make various adjustments.

* The utility operations can be performed only in the standby state or while the program is stopped.

Before opening the display of each utility, be sure to check that the machine is in the standby state. If the machine is in any other state (automatic operation, pause, and alarm), place the machine in the standby state. If the teaching by the teaching hand box is enabled, disable it. * The setting ranges described here are the ranges of values that can be entered. The ranges of values that can be actually set vary with the machine and unit.

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* The UTILITY display cannot be used in the TAS mode.

When you turn off the TAS mode, the buttons become available.

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8-1. Reference position

Press the Reference Position button to open the Reference Position display.

Items
Item BACK button Ref. point Avoid Avoid Dist. Description : Closes the current display. : Selects the operation of the robot, carriage, or table to execute. : Selects the operation and direction to retract the robot. : Sets the retraction distance when one of the "Avoid" operations is selected. (Setting range: -9999.999 to 9999.999 mm)

Operating
1. Check that the machine is in the standby state. 2. Press the Reference Position button to open the Reference Position display. 3. Select the button of the desired operation on the display. 4. Press the START button to execute the selected operation.

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8-2. Check shield gas

Press the Check Shield Gas button to open the Check Shield Gas display.

Items
Item DEFAULT button BACK button Gas Kind Main Gas Qty Side Gas Qty Time Main Qty. Side Qty. Description : Defaults all the setting values. : Closes the current display. : Selects the kind of gas to check. : Sets the flow rate of the main gas. (Setting range: 0 to 100 L/min.) : Sets the flow rate of the side gas. (Setting range: 0 to 100 L/min.) : Sets how long to inject the gas. (Setting range: 0 to 9999.999 sec.) : Shows the current value of the main gas flow rate. : Shows the current value of the side gas flow rate. (Argon/Nitrogen)

Operating
1. Check that the machine is in the standby state. 2. Press the Check Shield Gas button to open the Check Shield Gas display. 3. Make settings about the shield gas to inject. 4. Press the START button to inject the shield gas.

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8-3. Adjust nozzle unit centering

Press the Adjust the Nozzle Unit Centering button to open the Adjust the Nozzle Unit Centering display.

Items
Item BACK button DEFAULT button Power Freq. Duty Focus Main Gas Kind Main Gas Qty Time Description : Closes the current display. : Resets all the settings to their initial values. : Sets the laser power. : Sets the laser duty. (Setting range: 0 to 9999 W) (Setting range: 0 to 9999 Hz) (Setting range: -5.000 to 50.000 mm) (Argon/Nitrogen) (Setting range: 0 to 100%) : Sets the laser frequency. : Sets the focus position.

: Selects the kind of main gas. : Sets the centering time.

: Sets the flow rate of the main gas. (Setting range: 0 to 100 L/min.) (Setting range: 0 to 9999.999 sec.)

* When the Time field is set to 3.0 sec or more, a confirmation display opens. Press the OK button to complete the entry and show the time in red. The laser beam is actually turned on for the time setting. Pay full attention to the value to be entered in the Time field.

Operating
1. Check that the machine is in the standby state. 2. Check the orientation and position of the head. 3. Press the Adjust the Nozzle Unit Centering button to open the Adjust the Nozzle Unit Centering display. 4. Set the laser to be output when checking the nozzle center. 5. Each time the START button is pressed, the center of the nozzle unit is checked.

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8-4. Truck location exchange

Press the Truck Location Exchange button to open the Truck Location Exchange display.

Items
Item BACK button Truck Arbitrary Locale (Numeral box) Description : Closes the current display. : Selects the position to which the carriage is moved by the utility function. : Sets the destination position when Arbitrary Locale is selected. (Setting range: 0 to 9999.999 mm)

Operating
1. Check that the robot is at the second machine position. If it is not there, use the Reference Position utility to move the robot to the second machine position. 2. Check that the machine is in the standby state. 3. Select the position you want to move the carriage to. Arbitrary Locale, enter the desired position. When you select

4. Press the START button to move the carriage to the specified position.

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8-5. Table setup

Press the Table Setup button to open the Table Setup display.

Items
Item BACK button Gradient Rotation Arbitrary Angle (Gradient, Numeral editor) Arbitrary Angle (Rotation, Numeral editor) Table A and Table B buttons Description : Closes the current display. : Selects the gradient of the table. : Selects the rotation angle of the table. : Sets the gradient of the table when Arbitrary Angle is selected for Gradient. (Setting range: -90 to 90) : Sets the rotation angle of the table when Arbitrary Angle is selected for Rotation. (Setting range: -720 to 720) : Sets which table is to be moved when there are two tables.

Operating
1. Check that the machine is in the standby state. 2. Press the Table Setup button to open the Table Setup display. 3. Set the movement and angle of the table. 4. Press the START button to execute the table setup. The table is rotated according to the specified gradient and angle.

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8-6. Filler Feed

Press the Filler Feed button to open the Filler Feed display.

Items
Item BACK button Filler Speed Motor 1 Motor 2 Description : Closes the current display. : Sets the filler feed speed. (Setting range: 0 to 700 cm/min.) : Shows the command value of the motor 1 for filler feed. : Shows the command value of the motor 2 for filler feed.

Operating
1. Check that the machine is in the standby state. 2. Press the Filler Feed button to open the Filler Feed display. 3. Set the speed of feeding the filler in the Filler Speed field. 4. Press the START button to start the filler feed. 5. To stop the filler feed, use the RESET or STOP button.

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8-7. TAS calibration display

Before performing the offset operation using TAS, you need to perform calibration to: Calculate the ratio of the specified movement (in pixels) on the display to the actual movement (in millimeters) of the robot (the number of millimeters per pixel), and Align axes between the display coordinate system and the tool coordinate system. The coordinate values of the following three points are used to calculate the calibration: A: Laser spot position B: Laser spot position after the tool has moved in the X-axis direction of the tool coordinate system C: Laser spot position after the tool has moved in the Y-axis direction of the tool coordinate system The ratios in the X- and Y-axis directions are calculated from the ratios of the lengths of line AB and AC (in pixels) to the actual movement (in millimeters) of the robot, and the coordinate axes are aligned using the angle between line AB and AC. If any two points of the three points (A, B, and C) have the same coordinate, these calculations cannot be performed. The specified point A is also used for the alignment of the crossline intersection and the laser spot position.

N O T E 1. The calibration has to identify laser spot positions. for laser shot. 2. The robot moves during calibration. during the operation. Prepare workpieces

Pay adequate attention to safety

3. If a laser spot position is out of the field of view of the camera, the calibration cannot be performed. Remove the coaxial nozzle before the calibration to ensure the field of view of the camera and the movement of the robot. 4. Adjusting the laser might displace the laser spot position. After adjusting the laser, perform the calibration again and alignment of the crossline intersection and the laser spot. 5. When the shock sensor is triggered and the laser head is removed, the tool coordinate system may deviate from the calibration setting after reinstalling the laser head. If the laser head is removed, perform the calibration again after reinstalling it.

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Layout of Calibration display

Button functions of Calibration display

(1) Specified point : Specifies the laser spot position (2) Specified point fine movement button : Fine adjustment of the specified point position (can be operated from the keyboard) (3) Crossline for specification display (4) SHOW button (5) FIX button : Indicates the laser spot position : Toggles show/hide the (2) fine movement buttons : Obtains the coordinate of the specified point and executes the calibration process : Terminates the calibration (and discards the obtained information) : Adjusts the illuminance of the LED light

(6) END button (7) Illuminance control

Reference The display settings (such as color and size of the crossline and the specified point) of the Calibration display share their parameters with those of the TAS display. To change the parameters, use the PARAMETER button on the TAS display.

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8-7-1. Executing TAS calibration

1. Before executing the TAS calibration, you need to change the robot posture and identify the laser spot position. By referring to "8-3. Adjust nozzle unit centering", shoot a laser beam at a plate to create a laser spot that is visible on the teaching monitor (when using the teaching monitor, the crossline intersection on the teaching monitor must be aligned with the laser spot position). Press the TAS Calibration button on the UTILITY display of AMNC to start the calibration.

2.

The confirmation message for starting the calibration appears. * Press NO to return to the UTILITY display.

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If the safety equipment is actuated, the message in the right figure appears when starting calibration. Check the alarms and then restart the calibration.

If the teaching hand box is enabled, the calibration cannot be performed. In that case, the message in the right figure appears. Press the OK button. Then, turn off the teaching hand box and restart the calibration.

3.

Select YES on the confirmation message for starting the calibration to open the Calibration display.

Laser spot

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At the same time that the Calibration display appears, the message prompting to specify the laser spot position appears.

* Aborting calibration To abort the calibration, press the END button. All coordinate values that have been acquired are discarded, and you are returned to the UTILITY display. * The acquired information is not saved. After aborting the calibration, you have to start again from scratch. When you press the END button, the confirmation message in the right figure appears. * Press NO to return to the Calibration display and continue the calibration.

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4.

Specify the laser spot position on the specification display (you can finely adjust the specified point position using the specified point fine movement buttons or the direction keys on the keyboard). After that, when you press the FIX button, the coordinate value of the first point is recorded, and then the robot moves to the next point.

After coordinate value is recorded, laser spot moves

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5.

After the coordinate value of the first point (the laser spot position) is acquired, the robot moves in the X-axis direction on the tool coordinate system. After the movement, specify the laser spot position and press the FIX button.

After the robot movement is completed, the message in the right figure appears. Specify the laser spot position after the movement.

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When any irregularity occurred in the behavior or connection of the robot, the message in the right figure appears. Check that there is no irregularity in the settings of the robot, and press RETRY.

6.

After the coordinate value of the second point (the laser spot position after the movement in the X-axis direction) is acquired, the robot moves in the Y-axis direction on the tool coordinate system. After the movement, specify the laser spot position in the same way and press the FIX button.

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After the robot movement, the message in the right figure appears. Specify the laser spot position after the movement.

7.

The calibration is calculated using the acquired three points. If there is no numerical abnormality, the system will complete the calculation, saves the result in the file, and prompts you to check the calibration result. When the calculation is completed successfully, the message in the right figure appears. When you press YES, the robot is moved to check the calibration result. Press NO to return to the UTILITY display. If calculation failed due to irregularity of coordinates or other reasons, the message in the right figure appears. Perform the calibration again.

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8-7-2. Confirming calibration result

When the calibration calculation is completed without abnormality, you can check whether the calculation result is correct. First, check the position offset using the last point specified during the calibration. Then, move the laser spot position manually to check the calibration result. * Even when the calculation is completed without abnormality, the robot may operate inaccurately due to, for example, errors in specifying the positions of points (pixel deviation). 1. If you select to check the calibration result on the message displayed after the completion of the calibration calculation, the movement amount is calculated using the last teaching point (the laser spot position after the movement in the Y-axis direction), and the robot is moved so that the laser spot aligns with the crossline intersection on the display. Check whether the laser spot position after the movement overlaps with the crossline intersection. After the robot movement, the message in the right figure appears. Check whether the laser spot position is located at the crossline intersection.

If the laser spot does not align with the crossline intersection, the result of the calibration calculation may be incorrect. When you return to the UTILITY screen, perform the calibration again.

2.

To check the calibration result further, first you need to shift the laser spot from the crossline intersection. Pick an arbitrary point on the display and press FIX. This will shift the laser spot from the crossline intersection because the robot is moved so that the picked position overlaps with the crossline intersection.

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When you select YES in step 1, the message in the right figure appears. Pick an arbitrary point on the display or press END on the Calibration display to terminate the calibration.

1. Robot moves so that arbitrary picked position becomes intersection

2. Laser spot is shifted from intersection

3.

When the laser spot is shifted from the crossline intersection, pick the laser spot position and press FIX. The movement amount is calculated using the specified point, and the robot is moved. After the robot movement is completed, the message in the right figure appears. Pick the moved laser spot position and then press FIX.

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4.

If the result of the calibration calculation is correct, the laser spot position aligns with the crossline intersection. If you want to check the calibration result further, repeat step 2 and 3. After the robot movement, the message in the right figure appears. Check whether the laser spot position aligns with the crossline intersection.

When you select YES, the message in the right figure appears. Return to step 2 and check the calibration result again or press END on the Calibration display to terminate the calibration. When you select NO, the message in the right figure appears. When you return to the UTILITY screen, perform the calibration again.

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8-7-3. Other messages

When any irregularity occurred in the calibration or connection of the robot, the message in the right figure appears. Check the camera connection.

If the parameter file failed to be read, the message in the right figure appears, and a new parameter file is created using the default values (this message also appears when the parameter file does not exist). If the parameter file could not be written, the message in the right figure appears. Perform the calibration again.

When the calibration is completed, the robot operation program is changed. If an error occurs in changing the program, the message in the right figure appears. Please check the connection with the robot.

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9. Processing condition display

Press the COND. button to open the Processing condition display. Press this button to open the display to select and set the laser processing conditions. The Processing condition display handles the processing condition files and machine parameters. There are the following four displays in the Processing condition display:

Processing condition display Power control condition display Processing condition list display Parameter setting display

: Changes and registers the welding conditions. : Changes and registers the power control conditions. : Calls and registers the condition names (processing condition file names). : Sets parameters.

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9-1. Common areas of Processing condition display

The items enclosed with dotted lines in the figure below are common to the Processing and Power control displays.

Common area 1

Common area 2

Common area 1: Shows the contents of the loaded processing conditions. Common area 2: Used for setting or operating processing conditions.

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9-1-1. Processing condition display common items 1

Items
Item Condition Name Comment Description : Shows the currently selected condition name. display only and cannot be changed. This item is for

: Shows a comment about the called processing condition. The comment can be entered and changed. (Setting range: 16 characters or less) (Characters to be used: alphanumeric characters, hyphen " - ", period " . ")

Update Date Material Type 1, Material Type 2

: Shows the date and time when the welding conditions were saved. This item cannot be changed. : Shows the material type of each workpiece to be welded. (Setting range: 8 characters or less) (Characters to be used: alphanumeric characters, hyphen " - ", period " . ")

Thick. 1, Thick. 2

: Shows the thickness of each workpiece to be welded. Be sure that they match the thickness of the workpieces to be welded. (Setting range: 0.00 to 199.99 mm) : Shows the focal length of the welding lens. (Setting range: 0 to 999 mm) : Shows the diameter of the gas nozzle. : Shows the material type of the filler to be fed. : Shows the diameter of the filler to be fed. (Setting range: 0.0 to 9.9 mm)

Welding Lens Gas Nozzle Filler Type Filler Dia

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9-1-2. Processing condition display common items 2

Item OVERRIDE button Power COMMENT button SELECT button REPLACE ALL button SAVE button Cursor

Description : Opens the Override display. : Shows the actual power. (Display unit: W) : Moves/returns the comment display item to the leftmost. : Selects the processing conditions. : Changes all of the items below the cursor position. : Saves the changed processing conditions. : Shows the cursor position for correcting data. The currently selected conditions number is indicated by a yellow band.

Override display
Changes the overrides (multiplication factors) for the Feed Rate and Power.

Item Feed Rate Power Scroll bars Numeric value 100% buttons BACK button Command value

Description : Sets the override of the robot feed rate. : Sets the override of the laser power. : Changes the overrides. : Sets the overrides by directly entering them. : Sets the robot feed rate or laser power to 100%. : Closes the current display. : Shows the actual command values of the robot feed rate and laser power. Robot feed rate: cm/min Laser power: W

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9-1-3. Setting operations of Processing condition display common items

1) Correcting data
Data can always be corrected. 1. Move the cursor to the position where you want to correct the data. 2. Correct data to a new value with the numeric keys on the keyboard. 3. Press the Enter key on the keyboard to confirm the change.

2) Replacing all data

All data below the cursor position are replaced with the same data at the cursor position. 1. Press the arrow keys on the keyboard to move the cursor to the item whose data you want to replace all. 2. Press the REPLACE ALL button. 3. All data below the cursor position are replaced with the same data at the cursor position.

3) Changing and registering comment

Move the cursor to the Comment field, and change the comment with the alphabetic and numeric keys on the keyboard. Then, press the Enter key on the keyboard to confirm the change.

4) Changing and registering material type

Move the cursor to the Material Type 1 or Material Type 2 field, and change the material name with the alphabetic and numeric keys on the keyboard. Then, press the Enter key on the keyboard to confirm the change.

5) Changing and registering material thickness

Move the cursor to the Thick. 1 or Thick. 2 field, and change the material thickness with the numeric keys on the keyboard. Then, press the Enter key on the keyboard to confirm the change.

6) Changing and registering welding lens

Move the cursor to the Welding Lens field, and change the focal length of the welding lens with the numeric keys on the keyboard. Then, press the Enter key on the keyboard to confirm the change.

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7) Changing and registering gas nozzle

Press the triangle button to open the pull-down menu. From the menu, select a diameter of the center nozzle.

8) Changing and registering filler type

Press the triangle button to open the pull-down menu. From the menu, select a filler type you want to use.

9) Changing and registering filler diameter

Move the cursor to the Filler Dia field, and change the filler diameter with the numeric keys on the keyboard. Then, press the Enter key on the keyboard to confirm the change.

10) Saving processing conditions data

Press the SAVE button to save the processing conditions data. N O T E The corrected data is shown on the display. Unless saved, it does not replace the original data. When the processing condition file is called again without saving the new data, it presents the old data.

11) Selecting processing conditions

Changes the currently selected processing conditions number. Press the SELECT button to select the processing conditions you want to use. Press the SELECT button again to have the processing conditions selected. When selected, the processing conditions are highlighted yellow.

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9-2. Processing condition display

You can correct and save the processing conditions. Press the PROCESS button to show the Processing display.

* The setting ranges described here are the ranges of values that can be entered. The ranges of values that can be actually set vary with the machine and unit.

Items
Item Feed Rate Power Freq. Duty Main Qty., Side Qty. : Sets the welding speed. (Setting range: 0 to 3000 mm/min) : Sets the laser power. : Sets the pulse frequency. : Sets the pulse duty. (Setting range: 0 to 100%) : Sets the flow rate of the shield gas. (Setting range: 0 to 100 L/min.) Description

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Item Welding Gas 1: Oxygen, 2: Nitrogen

Description : Sets the welding gas type. : Sets the assist gas change time.

Gas Time

The machine waits for the preset time when it changes to the assist gas for welding. (Setting range: 0.0 to 25.5 sec) : Sets the focus position. (Setting range: 5 to 50 mm) : Sets the nozzle gap. (Setting range: 0 to 32 mm) : Sets the weaving speed. (Setting range: 0 to 4000 rpm) : Sets the filler speed. (Setting range: 0 to 700 cm/min.) : Selects the operation pattern of the filler control. (Setting range: 0 (no select), 1, or 2) : Selects the slope up condition to be used. (Setting range: 0 (no select), or 301 to 305) : Selects the slope down condition to be used. (Setting range: 0 (no select), or 401 to 405) : Selects the fine condition to be used. (Setting range: 0 (no select), or 901 to 910) : Selects the joint shape of the welding. : Sets the feed angle. (Setting range: 0 to 90) : Sets the tilt angle. (Setting range: -90 to 90) : Sets the laser beam path compensation value. (Setting range: -9.9 to 9.9 mm) : Enter a comment. (Setting range: 16 characters or less) (Characters to be used: alphanumeric characters, hyphen " - ", period " . ")

Focus Nozzle Gap Weaving Speed Filler Speed Filler Ctrl Slope Up Slope Down Fine Joint Shape Feed Angle Tilt Angle Laser Beam Path Compensation

Comment

1-99

9-3. Power control condition display

Corrects and saves the power control conditions. Press the POWER CTRL button to open the Power control condition display.

Items
Fine Item Power Freq. Duty Parameter : Sets the power. : Sets the frequency. : Sets the duty. (Setting range: 0 to 100%) : Sets the parameter. (Setting range: 0 to 100%) Description

1-100

Slope Up Item Initial Power Stop Time Distance : Sets the initial power. : Sets the stop time. (Setting range: 0 to 99.999 sec) : Sets the slope up distance. (Setting range: 0 to 9999.999 mm) Slope Down Item Finish Power Stop Time Distance : Sets the finish power. : Sets the stop time. (Setting range: 0 to 99.999 mm) : Sets the slope down distance. (Setting range: 0 to 9999.999 mm) Description Description

1-101

9-4. Condition list display

Shows the list of the processing conditions data. Press the LIST button to show the Condition list display.

Items
Item Using Condition Name Green characters Condition Name Material Type 1, Material Type 2 Thick. 1, Thick. 2 Welding Lens Update Date Description : Shows the currently called condition name. : Shows the selected condition name. : Shows the processing condition name. : Shows the material type. : Shows the thickness. : Shows the focal length of the welding lens. : Shows the update date.

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9-4-1. Calling processing conditions

Calls the condition name and shows it. 1. Move the scroll bar to show the condition name you want to call, and move the cursor to the specified condition name to highlight it. 2. Press the CALL button to call the condition name.

9-4-2. Finding processing conditions

Finds the condition name and shows it. 1. Press the SEARCH button. display appears. The Search

2.

Enter the find conditions, and press the OK button.

Example: Find thickness of 1.00 to 2.00 for Thick. 1 1. Enter 1.00 in the lower limit and 2.00 in the upper limit of the thickness. 2. Press the OK button to perform the find. 3. The processing conditions with the thickness of 1.00 to 2.00 are listed. N O T E You can use the CLEAR button to initialize all the search conditions. After clearing the conditions, press the OK button to show all processing conditions.

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9-4-3. Copying processing conditions

Copies the processing conditions with the selected condition name. 1. From the list display, select the condition name you want to copy. 2. Press the COPY button. 3. Enter the new condition name. (Setting range: 16 characters or less) (Characters to be used: alphanumeric characters, hyphen " - ", period " . "]) If you have entered a wrong name, press the backspace key on the keyboard, and enter a correct name. 4. Press the Enter key to confirm the new condition name. N O T E If there is the same condition name as the destination condition name, the condition name cannot be copied.

9-4-4. Changing processing condition name (renaming)

1. From the list display, select the condition name you want to change. 2. Press the RENAME button. 3. Enter the new condition name with the keyboard. (Setting range: 16 characters or less) (Characters to be used: alphanumeric characters, hyphen " - ", period " . "]) If you have entered a wrong name, press the backspace key on the keyboard, and enter a correct name. 4. Press the Enter key to confirm the new condition name. N O T E If there is the same condition name as the new condition name, the condition name cannot be changed.

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9-4-5. Deleting processing conditions

Specify the condition name and delete it. 1. Move the cursor to the condition name you want to delete, and press the DELETE button. 2. Press the YES button on the confirmation display to delete the condition name.

N O T E If the specified condition name is already called, a message display opens to indicate that the called condition name cannot be deleted.

9-4-6. Exporting processing conditions

You can export the processing condition data. 1. Press the EXPORT button to open the save display of the processing condition file. 2. Specify the file name and the destination folder.

3. Press the Save button to save the selected processing condition data in the specified folder. The ".jkmx" extension is added to the exported file.

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9-4-7. Importing processing conditions

You can read saved processing condition data, and register it in the AMNC unit. You can only read files in the same .jkmx format as saved by exporting processing conditions. 1. Press the IMPORT button to open the open display of the processing condition file. 2. Browse to the folder where the processing condition file is saved. 3. The data in the file is shown. Select the data to import, and press the Open button.

9-4-8. Exporting all processing conditions at a time

Exports all processing conditions data at a time. 1. Press the ALL DATA EXPORT button to open the save all display of the processing condition file. 2. Specify the save location and the file name. The current time is the file name by default.

3. Press the Save button to save the data. saved file.

The ".jkax" extension is added to the

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9-4-9. Importing all processing conditions at a time

You can read the processing condition data saved by the export all data function and registers it in the AMNC unit. You can only read data in the same .jkax file format as saved by exporting all data. 1. Press the ALL DATA IMPORT button to open the open all display of the processing condition file. 2. Browse to the folder where the processing condition file is saved. 3. The data in the file is shown. Select the data to import, and press the Open button. N O T E The currently displayed processing conditions are all deleted, and the contents of the file are read.

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9-5. Parameter setting display

Shows the settings of the machine origin position, focal point reference positions, and carriage positions.

Items
Item Focus standard position Truck position A, Truck position B Description : Shows the focal point reference position of the laser, and sets it. : Shows the carriage positions A and B, and sets them. These settings are reflected in the exchange of carriage positions of the UTILITY display. (See 6-4. Truck location exchange) : Shows the settings of the machine origin position. : Shows the settings of the second machine position. : Captures the machine origin position or the second machine position from the current position of the robot. The changed settings are reflected in the zero-return of the UTILITY display. : Resets the changed parameters to the initial values.

Reference position 2nd Reference position CAPTURE button

DEFAULT button

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10. Maintenance display

Press the MAINT. button to open the display for viewing the I/O and other maintenance information.

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10-1. I/O
In this display, you can check the signal status of I/O.

If a signal is on, a green light is illuminated at the left of the item. You can use the scroll bar to change the displayed signals. Sets of the displayed signals are changed. Example:[0001] to [0032] [0033] to [0064] [0065] to [0096] ...

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10-2. Support
In this display, you can export information in AMNC to a zip file.

1. Select some kinds of data you want to export. 2. After selecting all the data you want to export, select EXPORT. 3. Select the destination, set the file name, and then press the Save button.

4. Select the EXPORT button to start the export of the data. 5. When the copy is completed, the data copy processing display is automatically closed.

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10-3. Version
In this display, you can check the version information of each NC data. Press the VERSION button to show various version information.

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10-4. User parameter

In this display, you can set the operating range of the positioner table.

Items
Item BACK button GP3 J1 MAX GP3 J1 MIN GP4 J1 MAX GP4 J1 MIN DEFAULT button Description : Closes the current display. : Sets the upper limit of the gradient of the table A. : Sets the lower limit of the gradient of the table A. : Sets the upper limit of the gradient of the table B. (available only when there are two tables.) : Sets the lower limit of the gradient of the table B. (available only when there are two tables.) : Resets the settings of the stroke limit to the initial values.

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10-5. Inspect
In this display, you can check the various inspection items and change their schedule. Press the INSPECT button to show the information about the inspection items.

Items
Item INSPECT button SETTING button BACK button Description : Used for changing the display to the Inspect display. : Used for changing the display to the Setting display. : Closes the current display.

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10-5-1. Inspect display

Items
Item LIST button CALENDAR button COMPLETE button FIX button RESET button CHANGE button ADD TASK button OPTION Description : Lists the items selected as inspection items. (The above display appears.) : Shows a calendar display for checking the inspection dates. : Extends the inspection date of the item whose inspection was completed to the next time. : Fixes the inspection date to the currently displayed date. : Resets the fixed state of the inspection date. (items added as a task cannot be reset.) : Changes the inspection date to the specified date. : Adds a new item as a task. : Sets the inspection warning dates or calendar holidays.

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When the CALENDAR button is selected, the display is changed from the inspection items list to a calendar display for checking the inspection dates.

Yellow cells indicate dates when inspection items are set. When the selected calendar date contains inspection items, their names are displayed in Item.

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Press the COMPLETE button to change the inspection date of the item checked in the list from the current date. You can use this button to update the inspection date of an item whose check is completed.

Press the FIX button to fix the inspection date of the item checked in the list to the currently displayed date. An icon is displayed on the inspection date field of an item whose inspection date is fixed.

Press the RESET button to unfix the inspection date of the item checked in the list from the currently displayed date. The inspection date after reset is automatically calculated from the last inspection date.

Press the CHANGE button to correct the inspection date of the selected item.

Select the inspection date of the selected item from the displayed calendar. Press OK to fix the selected date as the inspection date.

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Press the ADD TASK button to set a temporarily added inspection item.

Press the OPTION button to open the Option display. * See "10-5-3. Option display".

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10-5-2. Setting display

Items
Item Item Interval Description : Shows the name of the inspection item. : Shows the interval of the inspection item. None/Every day/Every week/Every month/Every three months/Every six months/Every year Select None from Interval to remove the inspection item from the items to be inspected. Last Time Next Time ADD button DELETE button OPTION : Shows the last inspection date. : Shows the next inspection date. : Creates a new custom inspection item. : Deletes the selected custom inspection item. (Standard inspection items cannot be deleted.) : Sets the inspection warning dates or calendar holidays.

Check the item shown right to open the Inspect display when the inspection date nears. You can use the Option display to set how long before the inspection date to show the Inspect display. * See "10-5-3. Option display".

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Press the ADD button to show the display for setting a custom inspection item.

Enter the name and interval of the inspection item to be added. to add it as a custom inspection item.

Press OK

An icon is displayed on the item name field of a custom inspection item.

Press the DELETE button to delete the selected custom inspection item from the added items. Items other than the custom inspection items cannot be deleted.

Press the OPTION button to open the Option display. * See "10-5-3. Option display".

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10-5-3. Option display

Press the OPTION button in the Inspect display to show the Option display for setting the inspection warning date and calendar holidays.

Press the WARNING button to show the display for selecting the period to show the Inspect display at the startup of AMNC. The Inspect display will be displayed at the startup if the nearest inspection date is within the selected period. Note that the Inspect display will not be shown at the startup unless the item shown right is checked in the Inspect display.

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Press the HOLIDAY button to show the display for setting the holidays in the calendar of the Inspect display.

Check a day of the week to set it as a holiday. The holidays are displayed in pink, and others are in white.

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Part 2

Robot Commands

1. Program codes ................................................................ 2-2 1-1. Processing condition file command.......................... 2-2 1-2. Processing condition number command .................. 2-2 1-3. LASERON command................................................ 2-2 1-4. LASEROFF command.............................................. 2-2 1-5. STRAIGHT LINE command...................................... 2-3 1-5-1. Position data ...................................................... 2-3 1-5-2. Moving speed .................................................... 2-3 1-5-3. Positioning style................................................. 2-4 1-5-4. Slope down ........................................................ 2-5 1-6. ARC command ......................................................... 2-6 1-6-1. Position data ...................................................... 2-6 1-6-2. Moving speed .................................................... 2-6 1-6-3. Positioning style................................................. 2-7 1-6-4. Slope down ........................................................ 2-8

2-1

1. Program codes
This part describes the codes used in programs.

1-1. Processing condition file command

Reads a processing condition file selected in M102. Format M102 ('i') Enter the name (i) of the processing condition file, enclosed with single quotation marks ().

1-2. Processing condition number command

Selects a processing condition (1 to 30) from the processing condition file selected by M102. Format E_NO (i) Enter the number of the processing condition to be selected in i. (Input range: 1 to 30)

1-3. LASERON command

Prepares the laser emission (weaving, filler, and shield gas) and starts emitting the laser beam.

1-4. LASEROFF command

Stops the laser emission and performs other related operations (weaving, filler, and shield gas).

2-2

1-5. STRAIGHT LINE command

Controls the robot move with a straight line path. This needs the end position, moving speed, and positioning style of the straight line. An option additional command may be added. Format STRAIGHTLINE POSITION[i] j cm/min SMOOTH SLOPEDOWN

1-5-1. Position data

The robot position immediately before the command is executed is the start point of the straight line. POSITION[i] sets the end point of the straight line.

POSITION[i] Start point (Robot position)

1-5-2. Moving speed

Sets the moving speed j of the straight line command in units of cm/min. (Valid range: 1 to 2000 cm/min) When using processing conditions, use "REGISTER[1] cm/min" for the moving speed.

2-3

1-5-3. Positioning style

Selects the positioning style from the two types, "STOP" and "SMOOTH".

STOP stops the robot at the target position. The next command moves the robot to the next target position.

SMOOTH moves the robot closer to the target position, but moves the robot to the next position without stopping at the target position. Sets a value between 0 and 100. A value of 0 moves the robot closest to the target position, and then starts the next operation without stopping at the target position. A value of 100 does not slow down the robot near the target position, and then starts the next operation toward the next point.

SMOOTH 100

SMOOTH 75 SMOOTH 50

SMOOTH 25

2-4

1-5-4. Slope down

Add the additional SLOPEDOWN command to do a slope down operation.

Distance (mm)

Stop time (sec)

Finish power (W)

A slope down operation is performed based on the slope down condition specified in the selected processing condition. You can set Finish Power, Stop Time, and Distance in the Processing condition display of AMNC. (See "9-3. Power control condition display" in Part 1.) A slope down operation adjusts the power to the finish power (W). It gradually adjusts the power based on the distance (mm) from the end point of the set welding line. After adjustment to the finish power, the laser continues to emit a beam with the finish power during the stop time.

* SLOPEDOWN must be specified at the end. * Do not specify SLOPEDOWN in a command other than a command to stop welding.

2-5

1-6. ARC command

Controls the robot move with an arc path. This needs the end position, moving speed, and positioning style of the arc. An option additional command may be added. Format ARC POSITION[i] POSITION[j] k cm/min SMOOTH l SLOPEDOWN

1-6-1. Position data

The robot position immediately before the command is executed is the start point of the arc. POSITION[i] specifies the middle point of the arc, and POSITION[j] specifies the end point of it. Start point (Robot position)

POSITION[i]

POSITION[j]

1-6-2. Moving speed

Sets the moving speed k of the arc command in units of cm/min. (Valid range: 1 to 2000 cm/min) When using processing conditions, use "REGISTER[1] cm/min" for the moving speed.

2-6

1-6-3. Positioning style

Selects the positioning style from the two types, "STOP" and "SMOOTH".

STOP stops the robot at the target position. The next command moves the robot to the next target position. SMOOTH moves the robot closer to the target position, but moves the robot to the next position without stopping at the target position. Sets a value between 0 and 100. A value of 0 moves the robot closest to the target position, and then starts the next operation without stopping at the target position. A value of 100 does not slow down the robot near the target position, and then starts the next operation toward the next point.

SMOOTH 100

SMOOTH 75 SMOOTH 50

SMOOTH 25

2-7

1-6-4. Slope down

Add the additional SLOPEDOWN command to do a slope down operation.

Distance (mm)

Stop time (sec)

Finish power (W)

A slope down operation is performed based on the slope down condition specified in the selected processing condition. You can set Finish Power, Stop Time, and Distance in the Processing condition display of AMNC. (See "9-3. Power control condition display" in Part 1.) A slope down operation adjusts the power to the finish power (W). It gradually adjusts the power based on the distance (mm) from the end point of the set welding line. After adjustment to the finish power, the laser continues to emit a beam with the finish power during the stop time.

* SLOPEDOWN must be specified at the end of a moving command set. * Do not specify SLOPEDOWN in a command other than immediately before LASEROFF.

2-8

Part 3 Alarms
1. Overview..........................................................................3-2 2. Machine alarms ...............................................................3-3 2-1. Machine alarms overview.........................................3-3 2-2. Machine alarms list...................................................3-3

3-1

1. Overview
The machine has the following three types of alarms. They are displayed in different ways each other. The following pages describe each of these alarms. Machine alarms: Alarms and warnings caused by the operation of the component parts and safety devices of the machine Oscillator alarm: Alarms relating to oscillators Robot alarms: Alarms relating to robots The alarms occurring on machine come in two types: alarms that stop the operation of the machine and warnings that do not stop the operation of the machine. N O T E Relating to the alarms that are displayed on the MESSAGE display, refer to the following material accompanying the machine for the numbers not described in this manual. FANUC Robot series operator's manual alarm codes list Alarm numbers not described in this manual and not shown in the above material: Refer to the fiber laser system final schematics.

3-2

2. Machine alarms

2-1. Machine alarms overview

When a machine alarm occurs, the ALARM light on the control panel of the control stand illuminates, and the machine comes to a stop or emergency stop. The description of each machine alarm can be checked on the MESSAGE display. When an alarm occurred, clear the cause of the alarm, return the program to the beginning, and retry the laser welding operation. The alarm number of this system is always INTP213. shown in the top of each message. A user alarm number is

2-2. Machine alarms list

No. Message Cause Remedy Description The safety unit for emergency stop (KA2) failed. If the alarm is not cleared when you press the RESET button, it means the failure of the safety unit (KA 2). Change the unit. Contact AMADA. The safety unit for the door sensor 1 (KA3) failed. If the alarm is not cleared when you press the RESET button, it means the failure of the safety unit (KA 3). Change the unit. Contact AMADA. The safety unit for the door sensor 2 (KA4) failed. If the alarm is not cleared when you press the RESET button, it means the failure of the safety unit (KA 4). Change the unit. Contact AMADA. The safety unit for the door sensor 3 (KA5) failed. If the alarm is not cleared when you press the RESET button, it means the failure of the safety unit (KA 5). Change the unit. Contact AMADA.

INTP213 UALM[2] Emergency stop error

INTP213 UALM[3] Safety1 error

Cause Remedy

INTP213 UALM[4] Safety2 error

Cause Remedy

INTP213 UALM[5] Safety3 error

Cause Remedy

3-3

No.

Message Cause Remedy

Description Shield gas is not selected. Shield gas is not selected. Press the ALARM RESET button to clear the alarm. Check that the shield gas is selected in the processing conditions. The purge air pressure has dropped to 0.4 MPa or less. Recover the air pressure and then press the ALARM RESET button to clear the alarm. Check the air source pressure, piping, and others. The cross jet pressure has dropped to 0.4 MPa or less. Recover the air pressure and then press the ALARM RESET button to clear the alarm. Check the air source pressure, piping, and others. The argon gas pressure has dropped to 0.15 MPa or less. Recover the argon gas pressure and then press the ALARM RESET button to clear the alarm. Check the argon gas pressure, piping, and others. The nitrogen gas pressure has dropped to 0.15 MPa or less. Recover the nitrogen gas pressure and then press the ALARM RESET button to clear the alarm. Check the nitrogen gas pressure, piping, and others. The main gas flow rate has dropped. Press the ALARM RESET button to clear the alarm. The argon or nitrogen gas has been depleted. Change the cylinder. The side gas flow rate has dropped. Press the ALARM RESET button to clear the alarm. The argon or nitrogen gas has been depleted. Change the cylinder.

INTP213 UALM[17] Gas not selected

INTP213 UALM[18] Purge air pressure down

Cause Remedy

INTP213 UALM[19] Cross jet pressure down

Cause Remedy

INTP213 UALM[20] Ar gas pressure down

Cause Remedy

INTP213 UALM[21] N2 gas pressure down

Cause Remedy

INTP213 UALM[22] Main flow error

Cause Remedy

INTP213 UALM[23] Side flow error

Cause Remedy

3-4

No.

Message Cause Remedy

Description The dry air pressure has dropped to 0.3 MPa or less. Recover the dry air pressure and then press the ALARM RESET button to clear the alarm. Check the dry air pressure, piping, and others. The difference between the pressures at the front and back of the dry air filter has dropped to 0.1 MPa or less. Change the dry air filter and then press the ALARM RESET button to clear the alarm. The protection glass is not installed properly. Install the protection glass properly, and then press the ALARM RESET button. Alarm will be cleared. The lens is not installed properly. Install the lens properly, and then press the ALARM RESET button. Alarm will be cleared. The protection glass is dirty. Change the protection glass, and then press the ALARM RESET button. Alarm will be cleared. The beam weaving mechanism does not properly operate. Press the ALARM RESET button to clear the alarm. Cannot move to the position instructed by the beam weaving mechanism. Check the air piping. If there is no problem relating to the piping, contact AMADA. The sensor to detect the position of the beam weaving mechanism failed. Press the ALARM RESET button to clear the alarm. Sensor failed. Contact AMADA.

INTP213 UALM[25] Dry air pressure down

INTP213 UALM[26] Dry air filter change

Cause

Remedy INTP213 UALM[33] Protection window uninstallation Cause Remedy

INTP213 UALM[36] Processing lens uninstallation

Cause Remedy

INTP213 UALM[47] Protection glass exchange time

Cause Remedy

INTP213 UALM[49] Not weaving position

Cause Remedy

INTP213 UALM[50] Weaving sensor error

Cause Remedy

3-5

No.

Message Cause Remedy

Description The filler nozzle is not properly operating. Press the ALARM RESET button to clear the alarm. Cannot move to the position instructed by the filler nozzle. Check the air piping. If there is no problem relating to the piping, contact AMADA. The side nozzle is not properly operating. Press the ALARM RESET button to clear the alarm. Cannot move to the position instructed by the side nozzle. Check the air piping. If there is no problem relating to the piping, contact AMADA. The oscillator does not give a laser start ready signal. Press the ALARM RESET button to clear the alarm. Contact AMADA if it is not cleared. The oscillator outputs a laser error signal. Press the ALARM RESET button to clear the alarm. Contact AMADA if the laser error is not cleared. The oscillator outputs a chiller error signal. Press the ALARM RESET button to clear the alarm. Contact AMADA if the chiller error is not cleared.

INTP213 UALM[51] Filler nozzle timeout

INTP213 UALM[52] Gas nozzle timeout

Cause Remedy

INTP213 UALM[57] Laser no response

Cause Remedy

INTP213 UALM[58] Laser system error

Cause Remedy

INTP213 UALM[59] Chiller error

Cause Remedy

3-6

No.

Message Cause Remedy

Description Step ON macro does not execute. Press the ALARM RESET button to clear the alarm. The machine setting may be wrong. Contact AMADA. TAS macro does not execute. Press the ALARM RESET button to clear the alarm. The machine setting may be wrong. Contact AMADA. EMISSION ENABLE keyswitch was turned ON (enabled) when it was at the ON side. Press the ALARM RESET button to clear the alarm. Turn the EMISSION ENABLE keyswitch OFF, and then turn to ON (enabled) again. Teaching hand box was turned to AUTO mode when it was ON (enabled). Press the ALARM RESET button to clear the alarm. Turn the MODE switch of the teaching hand box OFF, and then press the SAFETY DEVICE RESET switch again. The MODE switch of the teaching hand box was turned ON during the AUTO mode. Press the ALARM RESET button to clear the alarm. Turn the MODE switch of the teaching hand box OFF, and then press the SAFETY DEVICE RESET switch again.

INTP213 UALM[76] Step_on macro starting timeout

INTP213 UALM[78] TAS macro timeout

Cause Remedy

INTP213 UALM[89] Emission switch error

Cause Remedy

INTP213 UALM[90] TP effective

Cause Remedy

INTP213 UALM[91] Auto select

Cause

Remedy

3-7

No.

Message Cause Remedy

Description It is necessary to be second reference position, in order to execute truck move. Please retry after moving to the second reference position. It is impossible to select program that is running or pausing. Please retry after finishing the program. System tried to select the program that isn't there. Please retry after checking for the program. To select program was failed. Please retry after checking for key switches and alarms. The position of the mirror for a CCD camera is not suitable to the operation to be performed from now on. Please retry after checking operation manually. The robot did not change into the STEP state indispensable to execute TAS. Please restart TAS from the beginning.

INTP213 UALM[113] It wasn't second reference position.

INTP213 UALM[114] To select program was failed, because program was running or paused. INTP213 UALM[115] To select program was failed, because the program didn't exist. INTP213 UALM[116] To select program was failed. INTP213 UALM[120] CCD camera mirror position error

Cause Remedy Cause Remedy Cause Remedy Cause

Remedy INTP213 UALM[121] Position of nozzle or camera is wrong. Cause Remedy

3-8

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